Updated the DRIVE_TEST harness because initial RC_SERVO pins did not work, I also altered it to work as a state machine to move the motors backwards and forwards. I created my own test harness that tests the override functionality. It give autonomous control to the boat to drive for a couple seconds, stop and continue in this fashion. Once you switch the input from low to HI on a microcontroller it shifts control over to the user using the remote. This must be used in conjunction with the Override circuitry. I also implemented a drive backward feature that scales a PWM to the low-side of the RC pulse.